version: 66.06
glider: 139
mission: 8
dive: 754
start: 10 25 110 4 12 31
data:
$ID,139
$MISSION,8
$DIVE,754
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,190
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52108
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2167189.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2630
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,040124,2106.266,-15744.067,52,1.1,52,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.4
$GPS2,041213,2106.271,-15744.240,20,1.4,20,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,100.5,2436,-17.2,-7.895
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.21,-109.0,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,425,1466,2756,0,0,0,0,0,0
$GC,86,-1.22,-116.8,3.7,-4.1,12,110,12.62,2.10,-6.60,0.000,4,0.132,0.053,2778,235,3109,0,0,0,0,0,0
$GC,158,-0.97,-116.8,20.4,-15.6,26,164,0.22,2.10,0.00,0.000,6,0.074,0.019,2837,1546,3110,0,0,0,0,0,0
$GC,359,-0.90,-116.8,45.0,-11.6,52,363,0.00,2.20,0.00,0.000,4,0.000,0.021,2838,2888,3111,0,0,0,0,0,0
$GC,386,-0.90,-116.8,48.0,-11.0,54,390,0.00,2.35,0.00,0.000,6,0.000,0.032,2837,1496,3111,0,0,0,0,0,0
$GC,651,-0.85,-116.8,74.6,-8.5,75,656,0.12,2.15,0.00,0.000,4,0.098,0.044,2864,234,3112,0,0,0,0,0,0
$GC,693,-0.85,-116.8,77.5,-7.0,78,697,0.00,2.00,0.00,0.000,6,0.000,0.018,2864,1511,3112,0,0,0,0,0,0
$GC,964,-0.91,-116.8,97.2,-6.9,99,968,0.00,2.20,0.00,0.000,4,0.000,0.044,2864,231,3112,0,0,0,0,0,0
$GC,983,-0.97,-116.8,98.9,-7.1,100,990,0.08,2.00,0.00,0.000,6,0.036,0.018,2823,1519,3112,0,0,0,0,0,0
$GC,1247,-0.97,-116.8,120.4,-7.5,121,1251,0.00,2.17,0.00,0.000,4,0.000,0.020,2823,2864,3113,0,0,0,0,0,0
$GC,1275,-1.03,-116.8,123.0,-8.3,123,1279,0.00,2.28,0.00,0.000,6,0.000,0.031,2822,1500,3113,0,0,0,0,0,0
$GC,1536,-1.03,-116.8,143.3,-8.3,143,1540,0.00,2.15,0.00,0.000,4,0.000,0.044,2823,237,3113,0,0,0,0,0,0
$GC,1590,-1.03,-116.8,148.3,-9.1,147,1594,0.00,1.92,0.00,0.000,6,0.000,0.018,2823,1496,3113,0,0,0,0,0,0
$GC,1856,-1.03,-116.8,166.7,-7.2,168,1860,0.00,2.20,0.00,0.000,4,0.000,0.021,2823,2871,3113,0,0,0,0,0,0
$GC,1896,-1.13,-116.8,169.5,-6.7,171,1900,0.00,2.33,0.00,0.000,6,0.000,0.031,2823,1491,3113,0,0,0,0,0,0
$GC,2165,-1.13,-116.8,190.1,-8.3,192,2169,0.00,2.12,0.00,0.000,4,0.000,0.045,2822,230,3113,0,0,0,0,0,0
$GC,2192,-1.13,-116.8,192.4,-8.5,194,2196,0.00,1.98,0.00,0.000,6,0.000,0.019,2823,1496,3113,0,0,0,0,0,0
$GC,2448,-1.13,-116.8,211.0,-7.6,210,2452,0.00,2.17,0.00,0.000,4,0.000,0.047,2823,230,3113,0,0,0,0,0,0
$GC,2471,-1.13,-116.8,212.8,-8.9,211,2474,0.00,1.98,0.00,0.000,6,0.000,0.020,2823,1504,3113,0,0,0,0,0,0
$GC,2807,-1.16,-116.8,242.1,-8.1,227,2812,0.12,2.20,0.00,0.000,4,0.063,0.047,2778,231,3112,0,0,0,0,0,0
$GC,2845,-1.08,-116.8,246.2,-10.7,228,2852,0.12,2.03,0.00,0.000,6,0.063,0.021,2811,1512,3112,0,0,0,0,0,0
$GC,3164,-1.08,-116.8,270.6,-7.5,244,3168,0.00,2.17,0.00,0.000,4,0.000,0.048,2811,237,3112,0,0,0,0,0,0
$GC,3201,-1.08,-116.8,274.2,-10.0,245,3206,0.00,1.98,0.00,0.000,6,0.000,0.021,2811,1501,3112,0,0,0,0,0,0
$GC,3521,-1.13,-116.8,301.0,-7.9,261,3525,0.00,2.22,0.00,0.000,4,0.000,0.024,2812,2872,3110,0,0,0,0,0,0
$GC,3564,-1.24,-116.8,304.6,-8.2,262,3569,0.12,2.30,0.00,0.000,6,0.062,0.034,2766,1501,3110,0,0,0,0,0,0
$GC,3893,-1.19,-116.8,337.7,-10.8,270,3898,0.12,2.20,0.00,0.000,4,0.094,0.051,2792,235,3108,0,0,0,0,0,0
$GC,3941,-1.19,-116.8,343.0,-9.9,271,3945,0.00,1.98,0.00,0.000,6,0.000,0.023,2793,1487,3109,0,0,0,0,0,0
$GC,4273,-1.19,-116.8,369.8,-7.4,279,4277,0.00,2.30,0.00,0.000,4,0.000,0.026,2793,2881,3106,0,0,0,0,0,0
$GC,4294,-1.23,-116.8,371.4,-7.8,279,4298,0.00,2.35,0.00,0.000,6,0.000,0.038,2793,1497,3106,0,0,0,0,0,0
$GC,4639,-1.23,-116.8,399.7,-8.7,288,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1496,3104,0,0,0,0,0,0
$GC,4964,-1.23,-116.8,426.3,-7.9,296,4968,0.00,2.28,0.00,0.000,4,0.000,0.028,2793,2872,3102,0,0,0,0,0,0
$GC,5009,-1.34,-116.8,429.5,-7.2,297,5014,0.15,2.35,0.00,0.000,6,0.057,0.039,2745,1498,3101,0,0,0,0,0,0
$STATE,5253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5253,begin apogee
$GC,5260,-0.31,0.0,451.3,8.8,303,5359,1.10,0.00,96.10,0.827,6,0.071,0.000,2980,1441,2630,0,0,0,0,0,0
$STATE,5360,end apogee,CONTROL_FINISHED_OK
$STATE,5360,begin climb
$GC,5364,1.22,116.8,453.7,0.0,305,5472,1.45,0.00,100.90,0.812,6,0.035,0.000,3319,1441,2153,0,0,0,0,0,0
$GC,5815,1.01,131.2,430.8,7.2,316,5835,0.25,2.38,12.30,0.727,4,0.094,0.028,3266,2829,2094,0,0,0,0,0,0
$GC,5880,1.01,178.0,427.0,5.6,317,5929,0.00,2.42,42.83,0.793,6,0.000,0.041,3265,1452,1904,0,0,0,0,0,0
$GC,6274,0.97,213.9,403.0,6.2,327,6312,0.00,2.38,31.92,0.784,4,0.000,0.028,3265,2823,1758,0,0,0,0,0,0
$GC,6406,0.97,213.9,392.4,9.5,329,6410,0.00,2.42,0.00,0.000,6,0.000,0.044,3265,1443,1756,0,0,0,0,0,0
$GC,6735,0.92,213.9,361.4,9.4,337,6739,0.00,2.15,0.00,0.000,4,0.000,0.059,3265,233,1751,0,0,0,0,0,0
$GC,6786,0.79,213.9,356.1,10.7,338,6791,0.22,1.98,0.00,0.000,6,0.093,0.028,3221,1436,1748,0,0,0,0,0,0
$GC,7107,0.88,242.9,334.9,6.5,346,7139,0.00,2.25,25.45,0.752,4,0.000,0.058,3220,230,1638,0,0,0,0,0,0
$GC,7172,0.88,245.5,330.1,7.8,347,7176,0.00,2.00,0.00,0.000,6,0.000,0.028,3221,1448,1634,0,0,0,0,0,0
$GC,7524,0.98,259.4,307.2,7.2,356,7541,0.20,0.00,15.23,0.706,6,0.054,0.000,3275,1452,1572,0,0,0,0,0,0
$GC,7831,0.94,259.4,278.3,9.1,369,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1452,1567,0,0,0,0,0,0
$GC,8140,0.94,259.4,249.4,9.0,384,8144,0.00,2.15,0.00,0.000,4,0.000,0.056,3275,228,1566,0,0,0,0,0,0
$GC,8197,0.86,259.4,243.6,10.3,386,8202,0.20,2.00,0.00,0.000,6,0.089,0.028,3235,1468,1564,0,0,0,0,0,0
$GC,8520,0.99,301.6,221.7,5.9,402,8564,0.12,2.22,36.80,0.684,4,0.068,0.054,3273,233,1399,0,0,0,0,0,0
$GC,8596,0.92,301.6,216.1,9.1,405,8601,0.10,2.03,0.00,0.000,6,0.108,0.027,3252,1485,1396,0,0,0,0,0,0
$GC,8927,0.98,301.6,190.4,8.2,424,8931,0.00,2.20,0.00,0.000,4,0.000,0.054,3252,232,1394,0,0,0,0,0,0
$GC,8987,0.98,301.6,184.7,9.0,428,8993,0.00,2.00,0.00,0.000,6,0.000,0.026,3252,1449,1392,0,0,0,0,0,0
$GC,9249,1.07,321.5,165.3,6.9,449,9277,0.12,2.35,17.48,0.606,4,0.067,0.025,3291,2836,1318,0,0,0,0,0,0
$GC,9294,1.07,321.5,161.5,8.2,452,9299,0.00,2.45,0.00,0.000,6,0.000,0.041,3291,1441,1317,0,0,0,0,0,0
$GC,9561,1.07,322.6,141.0,7.8,473,9565,0.00,2.12,0.00,0.000,4,0.000,0.054,3291,231,1316,0,0,0,0,0,0
$GC,9590,1.02,322.6,138.2,10.1,475,9594,0.00,1.98,0.00,0.000,6,0.000,0.025,3291,1452,1314,0,0,0,0,0,0
$GC,9853,1.02,322.6,115.1,9.1,496,9857,0.00,2.12,0.00,0.000,4,0.000,0.051,3291,231,1314,0,0,0,0,0,0
$GC,9906,0.98,322.6,109.9,11.2,500,9911,0.12,1.98,0.00,0.000,6,0.097,0.024,3265,1465,1313,0,0,0,0,0,0
$GC,10173,1.07,328.6,88.3,7.6,521,10187,0.00,2.30,6.85,0.466,4,0.000,0.024,3265,2830,1290,0,0,0,0,0,0
$GC,10205,1.20,328.6,85.7,8.1,523,10210,0.20,2.40,0.00,0.000,6,0.048,0.036,3325,1440,1289,0,0,0,0,0,0
$GC,10475,1.20,328.6,61.2,9.1,544,10481,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1440,1290,0,0,0,0,0,0
$GC,10734,1.20,328.6,37.7,9.0,565,10738,0.00,2.08,0.00,0.000,4,0.000,0.049,3325,233,1290,0,0,0,0,0,0
$GC,10793,1.16,328.6,32.5,9.4,569,10798,0.10,1.92,0.00,0.000,6,0.105,0.022,3304,1468,1288,0,0,0,0,0,0
$GC,11061,1.25,347.9,14.4,7.0,625,11085,0.00,2.25,17.95,0.476,4,0.000,0.020,3304,2827,1210,0,0,0,0,0,0
$GC,11131,1.37,347.9,9.3,8.1,639,11137,0.15,2.38,0.00,0.000,6,0.030,0.031,3358,1450,1210,0,0,0,0,0,0
$STATE,11193,end climb,SURFACE_DEPTH_REACHED
$STATE,11193,begin surface coast
$FINISH,1.2,1.023240
$STATE,11229,end surface coast,CONTROL_FINISHED_OK
$STATE,11229,begin surface
$SM_CCo,11252,50.25,0.485,0,0,957,410.14
$SM_GC,1.68,0.00,0.00,50.25,0.000,0.000,0.485,425,1445,957,-12.07,-1.55,410.14
$IRIDIUM_FIX,2057.14,-15741.46,190100,040425
$TT8_MAMPS,0.029146
$HUMID,63.15
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.70
$XPDR_PINGS,1
$24V_AH,23.3,71.776
$10V_AH,9.9,57.951
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.750,121.725,403.800,50.250,0.000,56.019,64.342,313.623,4.750,0.000,20.215,1272.053,7496.334,487.047,1915.548,773.737,0.000,1347.629,0.000,1890.668,0.000,29.256,0.000
$DEVICE_MAMPS,131.924,108.914,826.826,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.731,429.388,968.214,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38190,660
$CAP_FILE_SIZE,130382,0
$CFSIZE,260165632,171671552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251010,072207,2106.452,-15742.367,30,2.0,35,9.8